extrinsic
0.94423 0.0305002 0.327871 1.12739 
-0.0940247 0.97922 0.179688 0.344038 
-0.315578 -0.200495 0.927477 2.0926 
0.0 0.0 0.0 1.0 

intrinsic
1161.49 0.0 961.743 
0.0 1161.49 543.535 
0.0 0.0 1.0 

0.945144 1.905144
